CN105598950A - Three-degree-of-freedom full-rotation parallelism keeping mechanism - Google Patents
Three-degree-of-freedom full-rotation parallelism keeping mechanism Download PDFInfo
- Publication number
- CN105598950A CN105598950A CN201610142957.9A CN201610142957A CN105598950A CN 105598950 A CN105598950 A CN 105598950A CN 201610142957 A CN201610142957 A CN 201610142957A CN 105598950 A CN105598950 A CN 105598950A
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- China
- Prior art keywords
- hollow shaft
- hack lever
- far away
- hinged
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to a three-degree-of-freedom full-rotation parallelism keeping mechanism which comprises a primary solid shaft and a movable platform. The front portion of the outer side of the primary solid shaft is movably sleeved with a secondary hollow shaft. The front end and the rear end of the secondary hollow shaft are each provided with a primary end cover clamped to the primary hollow shaft for limiting. The secondary hollow shaft can rotate relative to the primary solid shaft. The front portion of the outer side of the secondary hollow shaft is sleeved with a tertiary hollow shaft. The front end and the rear end of the tertiary hollow shaft are each provided with a secondary end cover clamped to the secondary hollow shaft for limiting. The tertiary hollow shaft can rotate relative to the secondary hollow shaft. The tertiary hollow shaft is fixedly sleeved with a front near frame bar. The left end of the front near frame bar is connected with a front far frame bar in a hinged mode. The front far frame bar and the rear far frame bar are connected and motion of a movable panel is limited; due to the fact that constraint is greatly reduced and the degree of freedom of the movable panel is improved compared with an existing parallel mechanism, the movable panel can more freely and flexibly conduct grasping or other operates at a more special angle.
Description
Technical field
The present invention relates to parallel robot equipment technical field, the row of keeping tie of Three Degree Of Freedom full circle swinging specificallyMechanism.
Background technology
In industrial production, the work such as the sorting of product, packaging, sampling observation and stacking is a kind of repeated monotonicityVery high work, along with the raising of industrial automatization, in these work, the utilization rate of robot more and moreHigh. The use of industrial robot can be evaded the danger of producing in dangerous material process on the one hand, on the other hand canThe enough production efficiency that greatly improves factory, reduces human cost, has long-term benefit. For these purposesRobot has two large classes conventionally, and a class is parallel robot, and another kind of is serial machine people. Parallel robotConventionally have at a high speed, stable, rigidity is large, bearing capacity is strong, error is little, precision is high, it is little to conduct oneself with dignity but workThe feature that scope is little; Serial machine people has high capacity, feature that working range is large.
Along with popularizing of parallel robot, the use of parallel institution is more and more extensive, although but parallel institutionAt a high speed, stable, rigidity is large, bearing capacity is strong, error is little, precision is high, still limit by self structureSystem, is difficult to carry out full circle swinging campaign, has limited the use of parallel institution.
Summary of the invention
For the defect of above-mentioned technology, the present invention proposes Three Degree Of Freedom full circle swinging and protects parallel mechanism.
Parallel mechanism is protected in Three Degree Of Freedom full circle swinging, comprises one-level solid shafting and moving platform, described one-level solid shaftingExterior front movable sleeve has secondary hollow shaft, and the forward and backward two ends of described secondary hollow shaft are equipped with and are stuck in one-levelOne-level end cap on solid shafting carries out spacing, and secondary hollow shaft can be rotated with respect to one-level solid shafting, and described twoLevel hollow shaft exterior front cover has three grades of hollow shafts, and the forward and backward two ends of described three grades of hollow shafts are equipped with and are stuck inSecondary end cap in secondary hollow shaft carries out spacing, and three grades of hollow shafts can be rotated with respect to secondary hollow shaft, and threeLevel hollow shaft outside is fixed with front nearly hack lever, before described front nearly hack lever left end is connected with by hinged modeHack lever far away, described front hack lever far away lower end is connected to the left end of moving platform, described secondary sky by hinged modeNearly hack lever during the rear portion, outside of axle is fixed with, described in the position that is connected with secondary hollow shaft of nearly hack lever beIn the middle part of nearly hack lever, in left end, the right-hand member of nearly hack lever be symmetrically connected with one by hinged mode respectivelyAn intermediate bar, the lower end of two described intermediate bars is all connected with a limit altogether by hinged modeConnecting rod, and an intermediate bar in left side is connected to common limit connecting rod left upper end, an intermediate bar company on right sideBe connected on common limit connecting rod upper right side, lower-left end, the bottom righthand side of described limit connecting rod are altogether each by hinged modeBe connected with No. two intermediate bars of a root, the lower end of two described No. two intermediate bars is symmetrical by hinged respectivelyMode is connected to left side, upper surface, the right side of moving platform; The rear portion of described one-level solid shafting is fixed with rear nearHack lever, the right-hand member of described rear nearly hack lever is connected with rear hack lever far away, described rear hack lever far away by hinged modeLower end is connected to the right-hand member of moving platform by hinged mode.
Described front hack lever far away, rear hack lever far away and No. two intermediate bars include the sub-connecting rod that two front and back are parallel to each otherAnd be arranged between two described sub-connecting rods for fixing the fixed mount of two described sub-connecting rods.
The invention has the beneficial effects as follows: the present invention is only connected with rear hack lever far away by front hack lever far away and limits moving flatThe motion of plate, due to compared with existing parallel institution, constraint greatly reduces, and has improved the freedom of moving flat boardDegree, make moving flat board more freedom and flexibility ground, capture or other operations with more special angle,Thereby improve the scope of application of parallel institution, for the structure of operating machine on streamline has increased abundanterSelection. Described moving flat board, No. two intermediate support spar parallelogram sturcutre, the institutes of limit connecting rod composition togetherState common limit connecting rod, intermediate support spar has all improved the present invention with the parallelogram sturcutre of nearly hack lever compositionLoad capacity and stability, and do not affect the free degree of the present invention, inherited existing parallel manipulator structureAdvantage.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is stereogram of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is one-level solid shafting of the present invention, secondary hollow shaft, three grades of hollow shafts and front nearly hack lever, rear nearHack lever with in the matching relationship schematic diagram of nearly hack lever.
Detailed description of the invention
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand,Below the present invention is further set forth.
As shown in Figure 1 to Figure 3, parallel mechanism is protected in Three Degree Of Freedom full circle swinging, comprises one-level solid shafting 1 and movingPlatform 11, described one-level solid shafting 1 exterior front movable sleeve has secondary hollow shaft 2, described secondary hollow shaft 2Forward and backward two ends be equipped with the one-level end cap being stuck on one-level solid shafting 1 carry out spacing, secondary hollow shaft 2Can rotate with respect to one-level solid shafting 1, described secondary hollow shaft 2 exterior front covers have three grades of hollow shafts 3, instituteThe forward and backward two ends of stating three grades of hollow shafts 3 be equipped with the secondary end cap being stuck in secondary hollow shaft 2 carry out spacing,Three grades of hollow shafts 3 can be rotated with respect to secondary hollow shaft 2, and three grades of hollow shaft 3 outsides are fixed with front nearly frameBar 4, described front nearly hack lever 4 left ends are connected with front hack lever 10a far away by hinged mode, described front hack lever far away10a lower end is connected to the left end of moving platform 11 by hinged mode, the outer rear flank of described secondary hollow shaft 2Nearly hack lever 5 during portion is fixed with, described in the position that is connected with secondary hollow shaft 2 of nearly hack lever 5 be near hack lever5 middle part, in the left end, right-hand member of nearly hack lever 5 be symmetrically connected with one in No. one by hinged mode respectivelyBetween bar 7a, the lower end of two described intermediate bar 7a all by hinged mode be connected with one altogether limit connectExtension bar 8, and an intermediate bar 7a in left side is connected to common limit connecting rod 8 left upper ends, a centre on right sideBar 7a is connected to common limit connecting rod 8 upper right sides, and lower-left end, the bottom righthand side of described limit connecting rod 8 altogether pass through hingeThe mode connecing is respectively connected with No. two intermediate bar 9a of a root, and the lower end of two described No. two intermediate bar 9a respectivelySymmetrical left side, upper surface, the right side that is connected to moving platform 11 by hinged mode; Described one-level solid shafting 1Rear portion be fixed with rear nearly hack lever 6, the right-hand member of described rear nearly hack lever 6 is connected with rear far away by hinged modeHack lever 10b, the lower end of described rear hack lever 10b far away is connected to the right-hand member of moving platform 11 by hinged mode.
Described front hack lever 10a far away, rear hack lever 10b far away and No. two intermediate bar 9a include two front and back and mutually put downThe sub-connecting rod 12 of row and being arranged between two described sub-connecting rods 12 for fixing two described sub-connecting rods12 fixed mount 13.
More than show and described general principle of the present invention, principal character and advantage of the present invention. The industryTechnical staff should understand, the present invention is not restricted to the described embodiments, in above-described embodiment and descriptionWhat describe is principle of the present invention, and without departing from the spirit and scope of the present invention, the present invention also canHave various changes and modifications, these changes and improvements all fall in claimed the present invention. Requirement of the present inventionProtection domain is defined by appending claims and equivalent thereof.
Claims (2)
1. parallel mechanism is protected in Three Degree Of Freedom full circle swinging, comprises one-level solid shafting and moving platform, it is characterized in that:Described one-level solid shafting exterior front movable sleeve has secondary hollow shaft, the forward and backward two ends of described secondary hollow shaftBe equipped with the one-level end cap being stuck on one-level solid shafting and carry out spacingly, secondary hollow shaft can be solid with respect to one-levelAxle rotates, and described secondary hollow shaft exterior front cover has three grades of hollow shafts, described three grades of hollow shafts forward and backwardTwo ends are equipped with the secondary end cap being stuck in secondary hollow shaft and carry out spacingly, and three grades of hollow shafts can be with respect to secondaryHollow shaft is rotated, and three grades of hollow shaft outsides are fixed with front nearly hack lever, and described front nearly hack lever left end is by hingedMode be connected with front hack lever far away, described front hack lever far away lower end is connected to a left side for moving platform by hinged modeEnd, nearly hack lever during the rear portion, outside of described secondary hollow shaft is fixed with, described in nearly hack lever and secondary hollowThe middle part of the position that axle connects nearly hack lever in being, in the left end, right-hand member of nearly hack lever respectively by hinged modeBe symmetrically connected with an intermediate bar, the lower end of two described intermediate bars is all by hinged modeBe connected with a limit connecting rod altogether, and an intermediate bar in left side is connected to common limit connecting rod left upper end, right sideAn intermediate bar be connected to common limit connecting rod upper right side, lower-left end, the bottom righthand side of described altogether limit connecting rod are logicalCross hinged mode and be respectively connected with No. two intermediate bars of a root, the lower end of two described No. two intermediate bars respectivelySymmetrical left side, upper surface, the right side that is connected to moving platform by hinged mode; After described one-level solid shaftingPortion is fixed with rear nearly hack lever, and the right-hand member of described rear nearly hack lever is connected with rear hack lever far away by hinged mode,The lower end of described rear hack lever far away is connected to the right-hand member of moving platform by hinged mode.
2. parallel mechanism is protected in Three Degree Of Freedom full circle swinging according to claim 1, it is characterized in that: described inFront hack lever far away, rear hack lever far away and No. two intermediate bars include the sub-connecting rod that two front and back are parallel to each other and are arranged onBetween two described sub-connecting rods for the fixed mount of two fixing described sub-connecting rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142957.9A CN105598950B (en) | 2016-03-12 | 2016-03-12 | Parallel mechanism is protected in Three Degree Of Freedom full circle swinging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142957.9A CN105598950B (en) | 2016-03-12 | 2016-03-12 | Parallel mechanism is protected in Three Degree Of Freedom full circle swinging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105598950A true CN105598950A (en) | 2016-05-25 |
| CN105598950B CN105598950B (en) | 2017-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610142957.9A Active CN105598950B (en) | 2016-03-12 | 2016-03-12 | Parallel mechanism is protected in Three Degree Of Freedom full circle swinging |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4336792A1 (en) * | 1993-10-28 | 1995-05-04 | Leybold Ag | Device for transporting workpieces in vacuum coating installations |
| CN101249653A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational parallel connection mechanism with far-rack single-lever |
| CN101444431A (en) * | 2008-12-23 | 2009-06-03 | 天津大学 | Three dimensional force feedback main operator assisting minimally invasive surgery robot |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
| CN102755754A (en) * | 2012-07-18 | 2012-10-31 | 武汉金领湾实业有限公司 | Full-slewing multi-degree-of-freedom dynamic device with mechanical animal |
| CN104972456A (en) * | 2015-07-16 | 2015-10-14 | 哈尔滨工业大学 | Bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation |
| CN205572412U (en) * | 2016-03-12 | 2016-09-14 | 芜湖瑞思机器人有限公司 | Capable mechanism that keeps tie is turned around entirely to three degrees of freedom |
-
2016
- 2016-03-12 CN CN201610142957.9A patent/CN105598950B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4336792A1 (en) * | 1993-10-28 | 1995-05-04 | Leybold Ag | Device for transporting workpieces in vacuum coating installations |
| CN101249653A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational parallel connection mechanism with far-rack single-lever |
| CN101444431A (en) * | 2008-12-23 | 2009-06-03 | 天津大学 | Three dimensional force feedback main operator assisting minimally invasive surgery robot |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
| CN102755754A (en) * | 2012-07-18 | 2012-10-31 | 武汉金领湾实业有限公司 | Full-slewing multi-degree-of-freedom dynamic device with mechanical animal |
| CN104972456A (en) * | 2015-07-16 | 2015-10-14 | 哈尔滨工业大学 | Bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation |
| CN205572412U (en) * | 2016-03-12 | 2016-09-14 | 芜湖瑞思机器人有限公司 | Capable mechanism that keeps tie is turned around entirely to three degrees of freedom |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105598950B (en) | 2017-06-20 |
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